CN109125004A - A kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind crutch - Google Patents
A kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind crutch Download PDFInfo
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- CN109125004A CN109125004A CN201811122287.XA CN201811122287A CN109125004A CN 109125004 A CN109125004 A CN 109125004A CN 201811122287 A CN201811122287 A CN 201811122287A CN 109125004 A CN109125004 A CN 109125004A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/17—Emergency applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Epidemiology (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Acoustics & Sound (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of supersonic array obstacle avoidance apparatus, comprising: supersonic array detecting module, GPS module, bluetooth module, micro process control module and power module.And the method applied to this device, comprising: ultrasound emission unit emits sound wave, and then ultrasonic reception unit receives the echo-signal of barrier；Micro process control module obtains echo-signal, and the location information of barrier is determined using transit time method；Location information is converted voice content and/or vibration signal by micro process control module, is sent to peripheral hardware bluetooth equipment by bluetooth module.And the intelligent blind crutch using this device.Peripheral obstacle is positioned in real time using supersonic array, and avoiding obstacles when application this device assisting blind walking, pass through GPS positioning module, blind person presses when lost and seeks advice key, intelligent crutch can will be in location information Real-Time Sharing to nominator's mobile phone, it cries for help, facilitates household or friend to navigate to blind person position, found.
Description
Technical field
The present invention relates to crutch technical field more particularly to a kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind
Crutch.
Background technique
The most structure of crutch used in blind person simply has a single function currently on the market, and easy to use but auxiliaring effect is not
It is obvious that in fact, friend blind person using when can encounter problems, for example road conditions are bad, and there is the barrier of suspension in front, general
Logical crutch can not be verified accurately；Direction can not position when lost, and relatives are not easy searching etc..This patent proposes a kind of new
The intelligent blind crutch of the supersonic array avoidance of type is a kind of multifunctional intellectual blind-man crutch, can be found out in real time in front of blind person
Barrier simultaneously notifies user by bluetooth headset, moreover it is possible to send household or friend's mobile phone for real-time position information when lost
On, it seeks help.
Summary of the invention
The purpose of the present invention is to provide a kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind crutch, using super
Acoustic array positions peripheral obstacle, and avoiding obstacles when application this device assisting blind walking in real time, and GPS positioning mould is housed
Block, blind person presses when lost seeks advice key, and intelligent crutch can be asked in location information Real-Time Sharing to nominator's mobile phone
It rescues, facilitates household or friend to navigate to blind person position, found.
In order to achieve the above objectives, in a first aspect, the present invention provides a kind of supersonic array obstacle avoidance apparatus, comprising: ultrasonic battle array
Column detecting module, GPS module, bluetooth module, micro process control module and power module.Wherein,
Supersonic array detecting module includes ultrasound emission unit and ultrasonic reception unit.
Preferably, ultrasound emission unit uses point source emission omnidirectional radiation sound source, and sound wave launch angle is 180 °；Ultrasound
Receiving unit is formed using 16 yuan or 32 yuan of sensor array, the sound wave of reception device peripheral reflection.
GPS module is integrated circuit, comprising: RF radio frequency chip, baseband chip, core CPU and its peripheral circuit.
Bluetooth module can be connect with peripheral hardware bluetooth equipment；For sending ultrasonic battle array by voice content and/or vibration signal
The complaint message that column detecting module detects.
Micro process control module is embedded type CPU and its peripheral circuit with Android system；For controlling supersonic array
The information exchange of detecting module, GPS module and bluetooth module and intermodule.
Power module is rechargeable lithium battery；For to supersonic array detecting module, GPS module, bluetooth module and Wei Chu
Manage control module power supply.
Preferably, the device further includes control panel, and control panel is connect with micro process control module, for default ultrasound
The detection threshold of array detection module；It is also used to be arranged the connection of bluetooth module Yu peripheral hardware bluetooth equipment.
Further preferably, setting emergency button on control panel, by pre-programmed emergency contact's information, when emergency button
After being pressed, micro process control module obtains the location information of GPS module and is sent to pre-programmed emergency contact, and can pass through
Peripheral hardware bluetooth equipment carries out urgency traffic.
Second aspect, the present invention provides a kind of supersonic array barrier-avoiding methods, the supersonic array applied to such as first aspect
Obstacle avoidance apparatus.Include the following steps:
Ultrasound emission unit emits sound wave, and then ultrasonic reception unit receives the echo-signal of barrier；Micro process control
Module obtains echo-signal, and the location information of barrier is determined using transit time method；Micro process control module is by location information
It is converted into voice content and/or vibration signal, peripheral hardware bluetooth equipment is sent to by bluetooth module.
Preferably, further include micro process control module after receiving instruction, the location information of GPS module is sent to pre-
If emergency contact, and urgency traffic can be carried out by peripheral hardware bluetooth equipment.
The third aspect, the present invention provides a kind of intelligent blind crutch of supersonic array avoidance, including such as first aspect
Supersonic array obstacle avoidance apparatus.Wherein,
Supersonic array detecting module is located at the top handle position of intelligent blind crutch；
GPS module, bluetooth module, micro process control module and power module are located at the cane body position of intelligent blind crutch.
The present invention has the advantages that having the function of front 180 degree omnidirectional ultrasonic detection barrier, communication positioning function
And sound prompt function etc., it can guarantee the smooth trip of blind person, the personal safety of blind person is made to be guaranteed.And use letter
It is single, excessive many and diverse operation is not needed, ensure that the correct quick use of blind person.
Detailed description of the invention
In order to become apparent from the technical solution for illustrating the embodiment of the present invention, embodiment will be described below in it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of supersonic array obstacle avoidance apparatus block diagram of the embodiment of the present invention；
Fig. 2 is the supersonic array detecting module structural schematic diagram of the embodiment of the present invention；
Fig. 3 is a kind of supersonic array barrier-avoiding method flow chart of the embodiment of the present invention；
Fig. 4 is a kind of intelligent blind crutch structure schematic diagram of supersonic array avoidance of the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of supersonic array obstacle avoidance apparatus block diagram of the embodiment of the present invention.As shown in Figure 1, a kind of supersonic array is kept away
Fault device includes: supersonic array detecting module 10, GPS module 20, bluetooth module 30, micro process control module 40 and power module
50.Wherein,
Supersonic array detecting module 10 includes ultrasound emission unit 11 and ultrasonic reception unit 12.
Fig. 2 is the supersonic array detecting module structural schematic diagram of the embodiment of the present invention.As shown in Fig. 2, ultrasound emission unit
11 use point source emission omnidirectional radiation sound source, avoid the unicity in current ultrasonic sensor transmitting sound wave direction, sound wave
Launch angle is 180 °；Ultrasonic reception unit 12 is formed using 16 yuan or 32 yuan of sensor array, reception device peripheral reflection
Sound wave.
GPS module 20 be integrated circuit for realizing positioning, comprising: RF radio frequency chip, baseband chip, core CPU and its
Peripheral circuit.
Bluetooth module 30 can be connect with peripheral hardware bluetooth equipment；For sending ultrasound by voice content and/or vibration signal
The complaint message that array detection module 10 detects.
Micro process control module 40 is embedded type CPU and its peripheral circuit with Android system；For controlling ultrasonic battle array
The information exchange of column detecting module 10, GPS module 20 and bluetooth module 30 and intermodule.Specifically include: ultrasonic battle array is analyzed in processing
The information that column detecting module 10 is sent, obtains the more specific location information of barrier, and it is logical to change into voice content and/or vibration signal
Bluetooth module 30 is crossed to be sent on peripheral hardware bluetooth equipment.
Power module 50 is rechargeable lithium battery；For to supersonic array detecting module 10, GPS module 20, bluetooth module
30 and micro process control module 40 power.
Preferably, the device further includes control panel, and control panel is connect with micro process control module 40, for default super
The detection threshold of acoustic array detecting module 10；It is also used to be arranged the connection of bluetooth module 30 Yu peripheral hardware bluetooth equipment.
Further preferably, setting emergency button on control panel, by pre-programmed emergency contact's information, when emergency button
After being pressed, micro process control module 40 obtains the location information of GPS module 20 and is sent to pre-programmed emergency contact, and can
Urgency traffic is carried out by peripheral hardware bluetooth equipment.
Fig. 3 is a kind of supersonic array barrier-avoiding method flow chart of the embodiment of the present invention.As shown in figure 3, under this method includes
Column step:
Step S301: ultrasound emission unit 11 emits sound wave, and then ultrasonic reception unit 12 receives the echo letter of barrier
Number.
Step S302: micro process control module 40 obtains echo-signal and is handled, and is determined and is hindered using transit time method
Hinder the location information of object.Wherein, the specific steps of transit time method include: the launch time of record system, receives echo-signal
And judge echo-signal reach time, determine the two-way time of sound wave so that it is determined that barrier location information, be converted into barrier
Hinder the distance value and angle value of object.
Step S303: location information is converted voice content and/or vibration signal by micro process control module 40, passes through indigo plant
Tooth module 30 is sent to peripheral hardware bluetooth equipment.
It preferably, further include when user presses emergency button, micro process control module 40 believes the positioning of GPS module 20
Breath is sent to pre-programmed emergency contact, and can carry out urgency traffic by peripheral hardware bluetooth equipment.
Fig. 4 is a kind of intelligent blind crutch structure schematic diagram of supersonic array avoidance of the embodiment of the present invention.Such as Fig. 4 institute
Show, intelligent blind crutch include: supersonic array detecting module 10, GPS module 20, bluetooth module 30, micro process control module 40,
Power module 50 and wand body 60.Wherein,
Supersonic array detecting module 10 is located at 60 top handle position of wand body；
GPS module 20, bluetooth module 30, micro process control module 40 and power module 50 are located at the cane body position of wand body 60
It sets.
The present invention provides a kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind crutch.Use supersonic array reality
Shi Dingwei peripheral obstacle, and avoiding obstacles when application this device assisting blind walking, and GPS positioning module, blind person are housed
It is pressed when lost and seeks advice key, intelligent crutch can cry for help in location information Real-Time Sharing to nominator's mobile phone, convenient
Household or friend navigate to blind person position, are found.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (9)
1. a kind of supersonic array obstacle avoidance apparatus characterized by comprising supersonic array detecting module (10), GPS module (20),
Bluetooth module (30), micro process control module (40) and power module (50)；Wherein,
The supersonic array detecting module (10) includes ultrasound emission unit (11) and ultrasonic reception unit (12)；Wherein,
The ultrasound emission unit (11) uses point source emission omnidirectional radiation sound source, and sound wave launch angle is 180 °；
The ultrasonic reception unit (12) is formed using 16 yuan or 32 yuan of sensor array, the sound of reception device peripheral reflection
Wave；
The micro process control module (40) is embedded type CPU and its peripheral circuit with Android system；It is described for controlling
The information exchange of supersonic array detecting module (10), GPS module (20) and bluetooth module (30) and the intermodule.
2. the apparatus according to claim 1, which is characterized in that the GPS module (20) is integrated circuit, comprising: RF is penetrated
Frequency chip, baseband chip, core CPU and its peripheral circuit.
3. the apparatus according to claim 1, which is characterized in that the bluetooth module (30) can connect with peripheral hardware bluetooth equipment
It connects；For sending the complaint message that the supersonic array detecting module (10) is detected by voice content and/or vibration signal.
4. the apparatus according to claim 1, which is characterized in that further include control panel, the control panel with it is described micro-
Processing and control module (40) connection, for presetting the detection threshold of the supersonic array detecting module (10)；It is also used to be arranged institute
State the connection of bluetooth module (30) and peripheral hardware bluetooth equipment.
5. device according to claim 4, which is characterized in that setting emergency button on the control panel, by default
Emergency contact information, after button of crying for help is pressed, micro process control module (40) obtains the location information of GPS module (20)
And it is sent to the pre-programmed emergency contact, and urgency traffic can be carried out by peripheral hardware bluetooth equipment.
6. the apparatus according to claim 1, which is characterized in that the power module (50) is rechargeable lithium battery；For
It powers to the supersonic array detecting module (10), GPS module (20), bluetooth module (30) and micro process control module (40).
7. a kind of supersonic array barrier-avoiding method, which is characterized in that applied to the dress as described in claim 1-6 any claim
It sets, including the following steps:
Ultrasound emission unit (11) emits sound wave, and then ultrasonic reception unit (12) receives the echo-signal of barrier；
Micro process control module (40) obtains the echo-signal, and the location information of barrier is determined using transit time method；
The location information is converted voice content and/or vibration signal by the micro process control module (40), passes through bluetooth
Module (30) is sent to peripheral hardware bluetooth equipment.
8. according to the method described in claim 8, it is characterized in that, further including that the micro process control module (40) refers in reception
After order, the location information of GPS module (20) is sent to pre-programmed emergency contact, and the peripheral hardware bluetooth equipment can be passed through
Carry out urgency traffic.
9. a kind of intelligent blind crutch of supersonic array avoidance, which is characterized in that including such as claim 1-6 any claim
The device；Wherein,
The supersonic array detecting module (10) is located at the top handle position of intelligent blind crutch；
The GPS module (20), bluetooth module (30), micro process control module (40) and power module (50) are located at intelligent blind
The cane body position of crutch.
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| CN201811122287.XA CN109125004A (en) | 2018-09-26 | 2018-09-26 | A kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind crutch |
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| CN201811122287.XA CN109125004A (en) | 2018-09-26 | 2018-09-26 | A kind of supersonic array obstacle avoidance apparatus, method and its intelligent blind crutch |
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Cited By (1)
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| CN110638613A (en) * | 2019-08-15 | 2020-01-03 | 广东工业大学 | Obstacle avoidance system based on intelligent obstacle avoidance glasses and walking stick and obstacle avoidance method thereof |
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Application publication date: 20190104 |